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Make sure the player is in the vehicle before running rosPubMsg #29

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merged 2 commits into from
Jun 4, 2021
Merged

Make sure the player is in the vehicle before running rosPubMsg #29

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8cfaf6b
make sure the player is in the vehicle before running rosPubMsg, fix #25
Jun 4, 2021
2cd5c6a
avoid publishing data if one is not inside a vehicle in every update …
Jun 4, 2021
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65 changes: 36 additions & 29 deletions modROS.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,8 @@ function ModROS:update(dt)

if self.doPubMsg then
-- avoid writing to the pipe if it isn't actually open
if self.file_pipe then
-- avoid publishing data if one is not inside a vehicle
if self.file_pipe and g_currentMission.controlledVehicle ~= nil then
self:publish_sim_time_func()
self:publish_veh_func()
self:publish_laser_scan_func()
Expand Down Expand Up @@ -507,37 +508,43 @@ function ModROS:rosPubMsg(flag)
return
end

-- raycastNode initialization
local vehicle = g_currentMission.controlledVehicle
self.instance_veh = VehicleCamera:new(vehicle, ModROS)
local xml_path = self.instance_veh.vehicle.configFileName
local xmlFile = loadXMLFile("vehicle", xml_path)
-- index 0 is outdoor camera; index 1 is indoor camera
-- local cameraKey = string.format("vehicle.enterable.cameras.camera(%d)", 0)

-- get the cameraRaycast node 2(on top of ) which is 0 index .raycastNode(0)
-- get the cameraRaycast node 3 (in the rear) which is 1 index .raycastNode(1)

local cameraKey = string.format("vehicle.enterable.cameras.camera(%d).raycastNode(0)", 0)
XMLUtil.checkDeprecatedXMLElements(xmlFile, xml_path, cameraKey .. "#index", "#node") -- FS17 to FS19
local camIndexStr = getXMLString(xmlFile, cameraKey .. "#node")
self.instance_veh.cameraNode =
I3DUtil.indexToObject(
self.instance_veh.vehicle.components,
camIndexStr,
self.instance_veh.vehicle.i3dMappings
)
if self.instance_veh.cameraNode == nil then
print("nil camera")
-- else
-- print(instance_veh.cameraNode)
-- if the player is not in the vehicle, print error and return
if not vehicle then
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@gavanderhoorn gavanderhoorn Jun 4, 2021 •
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This will avoid the nil related error, but should self.rosPubMsg also not be reset to false in this case?

Otherwise I believe ModROS:update(..) will try to still publish data, right?

Here:

FS19_modROS/modROS.lua

Lines 104 to 119 in cf452a6

function ModROS:update(dt)
-- self.dt = self.dt + dt
-- create TFMessage object
self.tf_msg = tf2_msgs_TFMessage:init()
if self.doPubMsg then
-- avoid writing to the pipe if it isn't actually open
if self.file_pipe then
self:publish_sim_time_func()
self:publish_veh_func()
self:publish_laser_scan_func()
self:publish_imu_func()
self:publish_tf()
end
end

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And in that case we should probably also guard the opening of the pipe file, otherwise that will be attempted multiple times.

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@tckarenchiang tckarenchiang Jun 4, 2021 •
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But 0f5e401 also avoids publishing data if the player is not in a vehicle

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But why even continue with rosPubMsg(..) if it's clear the player is not in a vehicle?

By adding more conditionals everywhere it looks like we're just complicating things which could be kept simple.

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@tckarenchiang tckarenchiang Jun 4, 2021 •
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because initially I wanted to control the inactive vehicles as well, as mentioned in #3. but yes, let's fix the current issue for now

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So are you planning to change anything, or should we merge this version?

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yes, we should just merge this version for now. Even though it's not a proper fix, it does solve the issue I believe.

print("You are not inside any vehicle, come on! Enter 'e' to hop in one next to you!")
return
else
self.instance_veh = VehicleCamera:new(vehicle, ModROS)
local xml_path = self.instance_veh.vehicle.configFileName
local xmlFile = loadXMLFile("vehicle", xml_path)
-- index 0 is outdoor camera; index 1 is indoor camera
-- local cameraKey = string.format("vehicle.enterable.cameras.camera(%d)", 0)

-- get the cameraRaycast node 2(on top of ) which is 0 index .raycastNode(0)
-- get the cameraRaycast node 3 (in the rear) which is 1 index .raycastNode(1)

local cameraKey = string.format("vehicle.enterable.cameras.camera(%d).raycastNode(0)", 0)
XMLUtil.checkDeprecatedXMLElements(xmlFile, xml_path, cameraKey .. "#index", "#node") -- FS17 to FS19
local camIndexStr = getXMLString(xmlFile, cameraKey .. "#node")
self.instance_veh.cameraNode =
I3DUtil.indexToObject(
self.instance_veh.vehicle.components,
camIndexStr,
self.instance_veh.vehicle.i3dMappings
)
if self.instance_veh.cameraNode == nil then
print("nil camera")
-- else
-- print(instance_veh.cameraNode)
end
-- create self.laser_frame_1 attached to raycastNode (x left, y up, z into the page)
-- and apply a transform to the self.laser_frame_1
local tran_x, tran_y, tran_z = mod_config.laser_scan.laser_transform.translation.x, mod_config.laser_scan.laser_transform.translation.y, mod_config.laser_scan.laser_transform.translation.z
local rot_x, rot_y, rot_z = mod_config.laser_scan.laser_transform.rotation.x, mod_config.laser_scan.laser_transform.rotation.y, mod_config.laser_scan.laser_transform.rotation.z
self.laser_frame_1 = frames.create_attached_node(self.instance_veh.cameraNode, "self.laser_frame_1", tran_x, tran_y, tran_z, rot_x, rot_y, rot_z)
end

-- create self.laser_frame_1 attached to raycastNode (x left, y up, z into the page)
-- and apply a transform to the self.laser_frame_1
local tran_x, tran_y, tran_z = mod_config.laser_scan.laser_transform.translation.x, mod_config.laser_scan.laser_transform.translation.y, mod_config.laser_scan.laser_transform.translation.z
local rot_x, rot_y, rot_z = mod_config.laser_scan.laser_transform.rotation.x, mod_config.laser_scan.laser_transform.rotation.y, mod_config.laser_scan.laser_transform.rotation.z
self.laser_frame_1 = frames.create_attached_node(self.instance_veh.cameraNode, "self.laser_frame_1", tran_x, tran_y, tran_z, rot_x, rot_y, rot_z)

elseif flag == nil or flag == "" or flag == "false" then
self.doPubMsg = false
print("stop publishing data, set true, if you want to publish Pose")
Expand Down